Finite-time tracking control of multiple nonholonomic mobile robots

Ou, Meiying; Du, Haibo; Li, Shengbo Eben

doi:10.1016/j.jfranklin.2012.08.009

Cited by 95 publications

(61 citation statements)

References 38 publications

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“…The authors of [23] discussed finite-time tracking control problem of system (4) without external disturbances, and finite-time control laws were designed as follows…”

Section: Error Systemmentioning

confidence: 99%

“…Apart from this advantage, finite-time control system has other good point: faster convergence, better robustness [1,9,15,24,33,30]. For the tracking control problem of nonholonomic mobile robot systems, some finite-time control laws have been proposed [12,23,25,31]. The authors of [31] proposed finitetime tracking controller for the nonholonomic systems with extended chained form, where the relay switching technique and the terminal sliding mode control scheme with finite time convergence were used to design the controller.…”

Section: Introductionmentioning

confidence: 99%

“…The authors of [31] proposed finitetime tracking controller for the nonholonomic systems with extended chained form, where the relay switching technique and the terminal sliding mode control scheme with finite time convergence were used to design the controller. In [23], finite-time tracking control problem of multiple nonholonomic wheeled mobile robots in dynamic model was investigated, and finite-time tracking control laws were designed for each mobile robot. The authors of [12] discussed finite-time formation control problem for a group of nonholonomic mobile robots, where the desired formation trajectory was represented by a virtual dynamic leader, finite-time observer was proposed for each follower to estimate the leader's states and finite-time tracking control law was designed for each mobile robot.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Ou¹,

Gu²,

Wang³

et al. 2016

Kybernetika

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“…The authors of [23] discussed finite-time tracking control problem of system (4) without external disturbances, and finite-time control laws were designed as follows…”

Section: Error Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Ou¹,

Gu²,

Wang³

et al. 2016

Kybernetika

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“…Sliding-Mode Control (SMC) is e ciently applied for the stabilization and controller design of various linear and nonlinear dynamical systems such as singular systems [2], robotic manipulators [3], nonholonomic mobile robots [4,5], fractional order systems [6], chaotic systems [7,8], under-actuated systems [9], etc. SMC is an in uential control technique, which has access to the favorite responses in spite of the uncertainties and disturbances [10,11].…”

Section: Introduction 1background and Motivationsmentioning

confidence: 99%

Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

Mobayen

Tchier

2017

Scientia Iranica

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Abstract. This paper investigates a novel nonsingular fast terminal sliding-mode control method for the stabilization of the uncertain time-varying and nonlinear thirdorder systems. The designed disturbance observer satis es the nite-time convergence of the disturbance approximation error and the suggested nite-time stabilizer assures the presence of the switching behavior around the switching curve in the nite time. Furthermore, this approach can overcome the singularity problem of the fast terminal sliding-mode control technique. Moreover, knowledge about the upper bounds of the disturbances is not required and the chattering problem is eliminated. Usefulness and e ectiveness of the o ered procedure are con rmed by numerical simulation results.

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“…This is due to its broad applications (e.g., formation control [1]- [4], flocking [5], [6], rendezvous [7], [8], etc.) and its advantages (e.g., better efficiency, higher robustness, less communication requirement, etc.)…”

Section: Introductionmentioning

confidence: 99%

Distributed Finite-Time Containment Control for Double-Integrator Multiagent Systems

Wang

Shi

2014

IEEE Trans. Cybern.

Self Cite

334

129

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In this paper, the distributed finite-time containment control problem for double-integrator multiagent systems with multiple leaders and external disturbances is discussed. In the presence of multiple dynamic leaders, by utilizing the homogeneous control technique, a distributed finite-time observer is developed for the followers to estimate the weighted average of the leaders' velocities at first. Then based on the estimates and the generalized adding a power integrator approach, distributed finite-time containment control algorithms are designed to guarantee that the states of the followers converge to the dynamic convex hull spanned by those of the leaders in finite time. Moreover, as a special case of multiple dynamic leaders with zero velocities, the proposed containment control algorithms also work for the case of multiple stationary leaders without using the distributed observer. Simulations demonstrate the effectiveness of the proposed control algorithms.

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Finite-time tracking control of multiple nonholonomic mobile robots

Cited by 95 publications

References 38 publications

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Nonsingular fast terminal sliding-mode stabilizer for a class of uncertain nonlinear systems based on disturbance observer

Distributed Finite-Time Containment Control for Double-Integrator Multiagent Systems

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